/**
 * @file exploring_maze.h
 * @author 范文宇 (2643660853@qq.com)
 * @brief
 * @version 1.0
 * @date 2024-01-06
 *
 * @copyright Copyright (c) 2024
 *
 */
#include <ros/ros.h>
#include "std_msgs/Int8.h"
#include <std_msgs/String.h>
#include <nav_msgs/Odometry.h>
#include <move_base_msgs/MoveBaseAction.h>
#include <actionlib/client/simple_action_client.h>
    typedef actionlib::SimpleActionClient<move_base_msgs::MoveBaseAction>
        MoveBaseClient;
class RandomGoal
{
public:
    RandomGoal();
    ~RandomGoal() = default;

public:
    // 句柄
    ros::NodeHandle nh;
    void treahutstateCallBack(std_msgs::Int8);
    void positionCallBack(nav_msgs::Odometry);

public:
    // 车子当前的位置
    nav_msgs::Odometry odom_data;
    // 当前的目标点
    move_base_msgs::MoveBaseGoal current_goal;
    // 当前宝藏位置
    std_msgs::Int8 treasure_state;
    // 订阅宝藏状态
    ros::Subscriber treahutstate_sub;
    // 订阅小车此时的位置
    ros::Subscriber position_sub;
    // 发布语音消息
    ros::Publisher voice_pub;
};